Scaling Up Diffusion and Flow-based XGBoost Models

Novel machine learning methods for tabular data generation are often developed on small datasets which do not match the scale required for scientific applications. We investigate a recent proposal to use XGBoost as the function approximator in diffusion and flow-matching models on tabular data, which proved to be extremely memory intensive, even on tiny datasets. In this work, we conduct a critical analysis of the existing implementation from an engineering perspective, and show that these limitations are not fundamental to the method; with better implementation it can be scaled to datasets 370x larger than previously used. Our efficient implementation also unlocks scaling models to much larger sizes which we show directly leads to improved performance on benchmark tasks. We also propose algorithmic improvements that can further benefit resource usage and model performance, including multi-output trees which are well-suited to generative modeling. Finally, we present results on large-scale scientific datasets derived from experimental particle physics as part of the Fast Calorimeter Simulation Challenge. Code is available at https://github.com/layer6ai-labs/calo-forest.

CMTA: Cross-Modal Temporal Alignment for Event-guided Video Deblurring

Video deblurring aims to enhance the quality of restored results in motion-blurred videos by effectively gathering information from adjacent video frames to compensate for the insufficient data in a single blurred frame. However, when faced with consecutively severe motion blur situations, frame-based video deblurring methods often fail to find accurate temporal correspondence among neighboring video frames, leading to diminished performance. To address this limitation, we aim to solve the video deblurring task by leveraging an event camera with micro-second temporal resolution. To fully exploit the dense temporal resolution of the event camera, we propose two modules: 1) Intra-frame feature enhancement operates within the exposure time of a single blurred frame, iteratively enhancing cross-modality features in a recurrent manner to better utilize the rich temporal information of events, 2) Inter-frame temporal feature alignment gathers valuable long-range temporal information to target frames, aggregating sharp features leveraging the advantages of the events. In addition, we present a novel dataset composed of real-world blurred RGB videos, corresponding sharp videos, and event data. This dataset serves as a valuable resource for evaluating event-guided deblurring methods. We demonstrate that our proposed methods outperform state-of-the-art frame-based and event-based motion deblurring methods through extensive experiments conducted on both synthetic and real-world deblurring datasets. The code and dataset are available at https://github.com/intelpro/CMTA.

Cross-Modal Temporal Alignment for Event-guided Video Deblurring

Video deblurring aims to enhance the quality of restored results in motion-blurred videos by effectively gathering information from adjacent video frames to compensate for the insufficient data in a single blurred frame. However, when faced with consecutively severe motion blur situations, frame-based video deblurring methods often fail to find accurate temporal correspondence among neighboring video frames, leading to diminished performance. To address this limitation, we aim to solve the video deblurring task by leveraging an event camera with micro-second temporal resolution. To fully exploit the dense temporal resolution of the event camera, we propose two modules: 1) Intra-frame feature enhancement operates within the exposure time of a single blurred frame, iteratively enhancing cross-modality features in a recurrent manner to better utilize the rich temporal information of events, 2) Inter-frame temporal feature alignment gathers valuable long-range temporal information to target frames, aggregating sharp features leveraging the advantages of the events. In addition, we present a novel dataset composed of real-world blurred RGB videos, corresponding sharp videos, and event data. This dataset serves as a valuable resource for evaluating event-guided deblurring methods. We demonstrate that our proposed methods outperform state-of-the-art frame-based and event-based motion deblurring methods through extensive experiments conducted on both synthetic and real-world deblurring datasets. The code and dataset are available at https://github.com/intelpro/CMTA.

Towards Real-world Event-guided Low-light Video Enhancement and Deblurring

In low-light conditions, capturing videos with frame-based cameras often requires long exposure times, resulting in motion blur and reduced visibility. While frame-based motion deblurring and low-light enhancement have been studied, they still pose significant challenges. Event cameras have emerged as a promising solution for improving image quality in low-light environments and addressing motion blur. They provide two key advantages: capturing scene details well even in low light due to their high dynamic range, and effectively capturing motion information during long exposures due to their high temporal resolution. Despite efforts to tackle low-light enhancement and motion deblurring using event cameras separately, previous work has not addressed both simultaneously. To explore the joint task, we first establish real-world datasets for event-guided low-light enhancement and deblurring using a hybrid camera system based on beam splitters. Subsequently, we introduce an end-to-end framework to effectively handle these tasks. Our framework incorporates a module to efficiently leverage temporal information from events and frames. Furthermore, we propose a module to utilize cross-modal feature information to employ a low-pass filter for noise suppression while enhancing the main structural information. Our proposed method significantly outperforms existing approaches in addressing the joint task. Our project pages are available at https://github.com/intelpro/ELEDNet.

Period Singer: Integrating Periodic and Aperiodic Variational Autoencoders for Natural-Sounding End-to-End Singing Voice Synthesis

In this paper, we present Period Singer, a novel end-to-end singing voice synthesis (SVS) model that utilizes variational inference for periodic and aperiodic components, aimed at producing natural-sounding waveforms. Recent end-to-end SVS models have demonstrated the capability of synthesizing high-fidelity singing voices. However, owing to deterministic pitch conditioning, they do not fully address the one-to-many problem. To address this problem, we present the Period Singer architecture, which integrates variational autoencoders for the periodic and aperiodic components. Additionally, our methodology eliminates the dependency on an external aligner by estimating the phoneme alignment through a monotonic alignment search within note boundaries. Our empirical evaluations show that Period Singer outperforms existing end-to-end SVS models on Mandarin and Korean datasets. The efficacy of the proposed method was further corroborated by ablation studies.

Uncertainty-Aware Shared Autonomy System with Hierarchical Conservative Skill Inference

Shared autonomy imitation learning, in which robots share workspace with humans for learning, enables correct actions in unvisited states and the effective resolution of compounding errors through expert's corrections. However, it demands continuous human attention and supervision to lead the demonstrations, without considering the risks associated with human judgment errors and delayed interventions. This can potentially lead to high levels of fatigue for the demonstrator and the additional errors. In this work, we propose an uncertainty-aware shared autonomy system that enables the robot to infer conservative task skills considering environmental uncertainties and learning from expert demonstrations and corrections. To enhance generalization and scalability, we introduce a hierarchical structure-based skill uncertainty inference framework operating at more abstract levels. We apply this to robot motion to promote a more stable interaction. Although shared autonomy systems have demonstrated high-level results in recent research and play a critical role, specific system design details have remained elusive. This paper provides a detailed design proposal for a shared autonomy system considering various robot configurations. Furthermore, we experimentally demonstrate the system's capability to learn operational skills, even in dynamic environments with interference, through pouring and pick-and-place tasks. Our code will be released soon.

Onboard Science Instrument Autonomy for the Detection of Microscopy Biosignatures on the Ocean Worlds Life Surveyor

The quest to find extraterrestrial life is a critical scientific endeavor with civilization-level implications. Icy moons in our solar system are promising targets for exploration because their liquid oceans make them potential habitats for microscopic life. However, the lack of a precise definition of life poses a fundamental challenge to formulating detection strategies. To increase the chances of unambiguous detection, a suite of complementary instruments must sample multiple independent biosignatures (e.g., composition, motility/behavior, and visible structure). Such an instrument suite could generate 10,000x more raw data than is possible to transmit from distant ocean worlds like Enceladus or Europa. To address this bandwidth limitation, Onboard Science Instrument Autonomy (OSIA) is an emerging discipline of flight systems capable of evaluating, summarizing, and prioritizing observational instrument data to maximize science return. We describe two OSIA implementations developed as part of the Ocean Worlds Life Surveyor (OWLS) prototype instrument suite at the Jet Propulsion Laboratory. The first identifies life-like motion in digital holographic microscopy videos, and the second identifies cellular structure and composition via innate and dye-induced fluorescence. Flight-like requirements and computational constraints were used to lower barriers to infusion, similar to those available on the Mars helicopter, "Ingenuity." We evaluated the OSIA's performance using simulated and laboratory data and conducted a live field test at the hypersaline Mono Lake planetary analog site. Our study demonstrates the potential of OSIA for enabling biosignature detection and provides insights and lessons learned for future mission concepts aimed at exploring the outer solar system.

RobustSwap: A Simple yet Robust Face Swapping Model against Attribute Leakage

Face swapping aims at injecting a source image's identity (i.e., facial features) into a target image, while strictly preserving the target's attributes, which are irrelevant to identity. However, we observed that previous approaches still suffer from source attribute leakage, where the source image's attributes interfere with the target image's. In this paper, we analyze the latent space of StyleGAN and find the adequate combination of the latents geared for face swapping task. Based on the findings, we develop a simple yet robust face swapping model, RobustSwap, which is resistant to the potential source attribute leakage. Moreover, we exploit the coordination of 3DMM's implicit and explicit information as a guidance to incorporate the structure of the source image and the precise pose of the target image. Despite our method solely utilizing an image dataset without identity labels for training, our model has the capability to generate high-fidelity and temporally consistent videos. Through extensive qualitative and quantitative evaluations, we demonstrate that our method shows significant improvements compared with the previous face swapping models in synthesizing both images and videos. Project page is available at https://robustswap.github.io/

Rationale-aware Autonomous Driving Policy utilizing Safety Force Field implemented on CARLA Simulator

Despite the rapid improvement of autonomous driving technology in recent years, automotive manufacturers must resolve liability issues to commercialize autonomous passenger car of SAE J3016 Level 3 or higher. To cope with the product liability law, manufacturers develop autonomous driving systems in compliance with international standards for safety such as ISO 26262 and ISO 21448. Concerning the safety of the intended functionality (SOTIF) requirement in ISO 26262, the driving policy recommends providing an explicit rational basis for maneuver decisions. In this case, mathematical models such as Safety Force Field (SFF) and Responsibility-Sensitive Safety (RSS) which have interpretability on decision, may be suitable. In this work, we implement SFF from scratch to substitute the undisclosed NVIDIA's source code and integrate it with CARLA open-source simulator. Using SFF and CARLA, we present a predictor for claimed sets of vehicles, and based on the predictor, propose an integrated driving policy that consistently operates regardless of safety conditions it encounters while passing through dynamic traffic. The policy does not have a separate plan for each condition, but using safety potential, it aims human-like driving blended in with traffic flow.

Morphology-Aware Interactive Keypoint Estimation

Diagnosis based on medical images, such as X-ray images, often involves manual annotation of anatomical keypoints. However, this process involves significant human efforts and can thus be a bottleneck in the diagnostic process. To fully automate this procedure, deep-learning-based methods have been widely proposed and have achieved high performance in detecting keypoints in medical images. However, these methods still have clinical limitations: accuracy cannot be guaranteed for all cases, and it is necessary for doctors to double-check all predictions of models. In response, we propose a novel deep neural network that, given an X-ray image, automatically detects and refines the anatomical keypoints through a user-interactive system in which doctors can fix mispredicted keypoints with fewer clicks than needed during manual revision. Using our own collected data and the publicly available AASCE dataset, we demonstrate the effectiveness of the proposed method in reducing the annotation costs via extensive quantitative and qualitative results. A demo video of our approach is available on our project webpage.